Point Set Registration with Integrated Scale Estimation
- Wepresentaniterativeregistrationalgorithmfor aligning two differently scaled 3-D point sets. It extends the popular Iterative Closest Point (ICP) algorithm by estimating a scale factor between the two point sets in every iteration. The presented algorithm is especially useful for the registration of point sets generated by structure-frommotion algorithms, which only reconstruct the 3-D structure of a scene upto scale. LiketheoriginalICPalgorithm,thepresentedalgorithm requires a rough pre-alignment of the point sets. In order to determine the necessary accuracy of the pre-alignment, wehaveexperimentallyevaluatedthebasinofconvergence of the algorithm with respect to the initial rotation, translation, andscale factor between the two point sets.
Author: | T. Zinßler, Jochen SchmidtORCiD, H. Niemann |
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Parent Title (English): | Proceedings of the Eighth International Conference on Pattern Recognition and Image Processing (PRIP 2005), pages 116-119, Minsk, Republic of Belarus |
Document Type: | Conference Proceeding |
Language: | English |
Publication Year: | 2005 |
Tag: | Iterative Closest Point; Scale Estimation |
faculties / departments: | Fakultät für Informatik |
Dewey Decimal Classification: | 0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 000 Informatik, Informationswissenschaft, allgemeine Werke |